/*
 *   MX28.cpp
 *
 *  
 *
 */
#include "../include/MX28.h"

using namespace Robot;

const int MX28::MIN_VALUE = 0;

//#ifdef MX28_1024
//const int MX28::CENTER_VALUE = 512;
//const int MX28::MAX_VALUE = 1023;
//const double MX28::MIN_ANGLE = -150.0; // degree
//const double MX28::MAX_ANGLE = 150.0; // degree
//const double MX28::RATIO_VALUE2ANGLE = 0.293; // 300 / 1024
//const double MX28::RATIO_ANGLE2VALUE = 3.413; // 1024 / 300
//
//
//
//const int MX28::PARAM_BYTES = 5;
//#else
const int MX28::CENTER_VALUE = 2048;
const int MX28::MAX_VALUE = 4095;
const double MX28::MIN_ANGLE = -180.0; // degree
const double MX28::MAX_ANGLE = 180.0; // degree
const double MX28::RATIO_VALUE2ANGLE = 0.088; // 360 / 4096
const double MX28::RATIO_ANGLE2VALUE = 11.378; // 4096 / 360

//const int MX28::ZERO1= 606;
//const int MX28::ZERO2= 2853;
//const int MX28::ZERO3= 2069;
//const int MX28::ZERO4= 2543;
//const int MX28::ZERO5= 1906;
//const int MX28::ZERO6= 145;
//const int MX28::ZERO7= 684;
//const int MX28::ZERO8= 3479;
//const int MX28::ZERO9= 1448;
//const int MX28::ZERO10= 1636;
//const int MX28::ZERO11= 2468;
//const int MX28::ZERO12= 2119;
//const int MX28::ZERO13= 1127;
//const int MX28::ZERO14= 925;
//const int MX28::ZERO15= 2910;
//const int MX28::ZERO16= 1362;
//const int MX28::ZERO17= 2002;
//const int MX28::ZERO18= 1039;
//const int MX28::ZERO19= 0;
//const int MX28::ZERO20=0;


const int MX28::PARAM_BYTES = 7;
//#endif
